from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    package_share_dir = get_package_share_directory('rhzd_assist')
    params_file = os.path.join(
        package_share_dir,
        'config',
        'rhzd_assist_param.yaml'
    )
    # print(params_file)
    # ld = LaunchDescription()
    return LaunchDescription([
        Node(
            package='rhzd_assist',
            executable='rhzd_assist',
            name='rhzd_assist',
            parameters=[params_file],
        )
    ])
